.TH "Zebulon::Underwater::GlobalInfo" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
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.SH NAME
Zebulon::Underwater::GlobalInfo \- 
.PP
Interface class for getting information from \fBGlobalPoseSensor\fP.  

.SH SYNOPSIS
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.PP
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\fC#include <globalinfo.h>\fP
.SS "Public Member Functions"

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.RI "\fBGlobalInfo\fP ()"
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.RI "\fIConstructor, initializes default values. \fP"
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.RI "\fB~GlobalInfo\fP ()"
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.RI "\fIDestructor. \fP"
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.RI "virtual int \fBProcessDiscoveryEvent\fP (const Jaus::Platform &subsystem, const Jaus::SubscriberComponent::DiscoveryEvents eventType)"
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.RI "\fIInitializes event and gets information from GlobalPose, in this case just Compass data. \fP"
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.RI "int \fBProcessInformMessage\fP (const Jaus::Message *msg)"
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.RI "\fIProcesses inform messages. \fP"
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.RI "int \fBCreateEventSubscriptions\fP ()"
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.RI "\fIInitializes event and gets information from other sensors on the vehicle. \fP"
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.RI "int \fBGetOrientation\fP (CxUtils::Point3D &orientation) const "
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.RI "\fISets position compass angles in radians. \fP"
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.RI "int \fBGetDownwardFrame\fP (IplImage *&frame) const "
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.RI "\fIGets a frame from the Downward Camera. \fP"
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.RI "int \fBGetDownwardFrame\fP (\fBCvImageCapture::Image\fP *&frame) const "
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.RI "\fIGets a frame from the Downward Camera. \fP"
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.RI "void \fBSetDownwardFrame\fP (const IplImage *frame, const int good=1)"
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.RI "\fISets the most recent frame from the Downward Camera. \fP"
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.RI "void \fBSetDownwardFrame\fP (const Jaus::Image *frame, const int good=1)"
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.RI "\fISets the most recent frame from the Downward Camera. \fP"
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.RI "void \fBSetDownwardFrame\fP (const \fBCvImageCapture::Image\fP &frame, const int good=1)"
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.RI "\fISets the most recent frame from the Downward Camera. \fP"
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.RI "int \fBGetForwardFrame\fP (IplImage *&frame) const "
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.RI "\fIGets a frame from the Forward Camera. \fP"
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.RI "int \fBGetForwardFrame\fP (\fBCvImageCapture::Image\fP *&frame) const "
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.RI "\fIGets a frame from the Downward Camera. \fP"
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.RI "void \fBSetForwardFrame\fP (const IplImage *frame, const int good=1)"
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.RI "\fISets the most recent frame from the Forward Camera. \fP"
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.RI "void \fBSetForwardFrame\fP (const Jaus::Image *frame, const int good=1)"
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.RI "\fISets the most recent frame from the Forward Camera. \fP"
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.RI "void \fBSetForwardFrame\fP (const \fBCvImageCapture::Image\fP &frame, const int good=1)"
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.RI "\fISets the most recent frame from the Forward Camera. \fP"
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.RI "bool \fBGetDigitalDeviceState\fP (DigitalDevice port) const "
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.RI "\fIGets the state of the digital device specified by port. \fP"
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.RI "int \fBGetAnalogDeviceState\fP (AnalogDevice port, double &value) const "
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.RI "\fIGets the output of the analog device specified by port. \fP"
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.RI "int \fBGetDepth\fP (double &value) const "
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.RI "\fIGets the depth in meters. \fP"
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.RI "int \fBGetElectronicsBatteryPercent\fP (double &value) const "
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.RI "\fIGets the percentage battery for electronics. \fP"
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.RI "int \fBGetMotorsBatteryPercent\fP (double &value) const "
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.RI "\fIGets the percentage battery for motors. \fP"
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.RI "int \fBGetTempLogicCelsius\fP (double &value) const "
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.RI "\fIGets temperature near logic boards. \fP"
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.RI "int \fBGetTempPowerCelsius\fP (double &value) const "
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.RI "\fIGets temperature near power supplies. \fP"
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.RI "int \fBGetYaw\fP (double &value) const "
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.RI "void \fBPrintStatus\fP () const "
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.RI "\fIPrints select data from this class to console. \fP"
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.RI "std::string \fBGetLogData\fP () const "
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.RI "\fIReturns all data in comma delimited format for logging, on first call will return data with a header so you know what data is what. \fP"
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.RI "void \fBSetStartHeading\fP (double heading, int good=1)"
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.RI "\fISets initial heading. \fP"
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.RI "int \fBGetStartHeading\fP (double &heading) const "
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.RI "\fIGets initial heading. \fP"
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.RI "void \fBSetPingerPosition\fP (double heading, double distance, int good=1)"
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.RI "\fISets pinger heading and distance. \fP"
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.RI "int \fBGetPingerPosition\fP (double &heading, double &distance) const "
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.RI "\fIGets pinger heading and distance. \fP"
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.RI "void \fBSetRunning\fP (int running, int good=1)"
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.RI "int \fBGetRunning\fP (int &running) const "
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.RI "void \fBSetLCDOutput\fP (std::string text)"
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.RI "std::string \fBGetLCDOutput\fP () const "
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.SS "Static Public Member Functions"

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.RI "static double \fBAngleDiff\fP (double angleSrc, double angleDest)"
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.RI "\fICalculates angle difference with compass data. \fP"
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.RI "static double \fBCalcDistance\fP (double eastingSrc, double northingSrc, double eastingDest, double northingDest)"
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.RI "\fICalculates the distance between \fBGPS\fP points. \fP"
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.SH "Detailed Description"
.PP 
Interface class for getting information from \fBGlobalPoseSensor\fP. 
.SH "Member Function Documentation"
.PP 
.SS "double GlobalInfo::AngleDiff (double angleSrc, double angleDest)\fC [static]\fP"
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Calculates angle difference with compass data. \fBParameters:\fP
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\fIangleSrc\fP source angle. 
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\fIangleDest\fP destination angle.
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\fBReturns:\fP
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Returns difference. 
.RE
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.SS "double GlobalInfo::CalcDistance (double eastingSrc, double northingSrc, double eastingDest, double northingDest)\fC [static]\fP"
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Calculates the distance between \fBGPS\fP points. \fBParameters:\fP
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\fIeastingSrc\fP source easting. 
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\fInorthingSrc\fP source easting. 
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\fIeastingDest\fP destination easting. 
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\fInorthingDest\fP destination easting.
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\fBReturns:\fP
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Returns distance. 
.RE
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.SS "int GlobalInfo::CreateEventSubscriptions ()"
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Initializes event and gets information from other sensors on the vehicle. \fBReturns:\fP
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True on success, False on failure. 
.RE
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.SS "int GlobalInfo::GetAnalogDeviceState (AnalogDevice port, double & value) const"
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Gets the output of the analog device specified by port. \fBParameters:\fP
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\fIEnumeration\fP of analog device ports found in \fBunderwater.h\fP 
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\fIvalue\fP the device is currently outputting 
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.SS "int GlobalInfo::GetDepth (double & value) const"
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Gets the depth in meters. \fBParameters:\fP
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\fIdepth\fP in meters. 
.RE
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.SS "bool GlobalInfo::GetDigitalDeviceState (DigitalDevice port) const"
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Gets the state of the digital device specified by port. \fBParameters:\fP
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\fIEnumeration\fP of digital device ports found in \fBunderwater.h\fP
.RE
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\fBReturns:\fP
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Returns state of the device, false = off, true = on. 
.RE
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.SS "int GlobalInfo::GetDownwardFrame (\fBCvImageCapture::Image\fP *& frame) const"
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Gets a frame from the Downward Camera. \fBParameters:\fP
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\fIImage\fP \fBFrame\fP 
.RE
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.SS "int GlobalInfo::GetDownwardFrame (IplImage *& frame) const"
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Gets a frame from the Downward Camera. \fBParameters:\fP
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\fIImage\fP \fBFrame\fP 
.RE
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.SS "int GlobalInfo::GetElectronicsBatteryPercent (double & value) const"
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Gets the percentage battery for electronics. \fBParameters:\fP
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\fIpercent\fP battery remaining. 
.RE
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.SS "int GlobalInfo::GetForwardFrame (\fBCvImageCapture::Image\fP *& frame) const"
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Gets a frame from the Downward Camera. \fBParameters:\fP
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\fIImage\fP \fBFrame\fP 
.RE
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.SS "int GlobalInfo::GetForwardFrame (IplImage *& frame) const"
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Gets a frame from the Forward Camera. \fBParameters:\fP
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\fIImage\fP \fBFrame\fP 
.RE
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.SS "std::string GlobalInfo::GetLogData () const"
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Returns all data in comma delimited format for logging, on first call will return data with a header so you know what data is what. \fBReturns:\fP
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string in comma seperated format of all loggable data. 
.RE
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.SS "int GlobalInfo::GetMotorsBatteryPercent (double & value) const"
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Gets the percentage battery for motors. \fBParameters:\fP
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\fIpercent\fP battery remaining. 
.RE
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.SS "int GlobalInfo::GetOrientation (CxUtils::Point3D & orientation) const"
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Sets position compass angles in radians. \fBParameters:\fP
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\fIorientation\fP in radians 
.RE
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.SS "int GlobalInfo::GetPingerPosition (double & heading, double & distance) const"
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Gets pinger heading and distance. \fBParameters:\fP
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\fIheading,distance\fP 
.RE
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.SS "int GlobalInfo::GetStartHeading (double & heading) const"
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Gets initial heading. \fBParameters:\fP
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\fIheading\fP 
.RE
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.SS "int GlobalInfo::GetTempLogicCelsius (double & value) const"
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Gets temperature near logic boards. \fBParameters:\fP
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\fItemperature\fP in celsius. 
.RE
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.SS "int GlobalInfo::GetTempPowerCelsius (double & value) const"
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Gets temperature near power supplies. \fBParameters:\fP
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\fItemperature\fP in celsius. 
.RE
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.SS "int GlobalInfo::ProcessDiscoveryEvent (const Jaus::Platform & subsystem, const Jaus::SubscriberComponent::DiscoveryEvents eventType)\fC [virtual]\fP"
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Initializes event and gets information from GlobalPose, in this case just Compass data. \fBParameters:\fP
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\fIsubsystem\fP 
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\fIeventType\fP 
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\fBReturns:\fP
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True on success, False on failure. 
.RE
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.SS "int GlobalInfo::ProcessInformMessage (const Jaus::Message * msg)"
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Processes inform messages. \fBParameters:\fP
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\fImsg\fP \fBMessage\fP to be processed.
.RE
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\fBReturns:\fP
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Returns JAUS_OK. 
.RE
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.SS "void GlobalInfo::SetDownwardFrame (const \fBCvImageCapture::Image\fP & frame, const int good = \fC1\fP)"
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Sets the most recent frame from the Downward Camera. \fBParameters:\fP
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\fIImage\fP \fBFrame\fP. 
.RE
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.SS "void GlobalInfo::SetDownwardFrame (const Jaus::Image * frame, const int good = \fC1\fP)"
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Sets the most recent frame from the Downward Camera. \fBParameters:\fP
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\fIJaus\fP Image \fBFrame\fP. 
.RE
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.SS "void GlobalInfo::SetDownwardFrame (const IplImage * frame, const int good = \fC1\fP)"
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Sets the most recent frame from the Downward Camera. \fBParameters:\fP
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\fIIPL\fP Image \fBFrame\fP. 
.RE
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.SS "void GlobalInfo::SetForwardFrame (const \fBCvImageCapture::Image\fP & frame, const int good = \fC1\fP)"
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Sets the most recent frame from the Forward Camera. \fBParameters:\fP
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\fIImage\fP \fBFrame\fP. 
.RE
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.SS "void GlobalInfo::SetForwardFrame (const Jaus::Image * frame, const int good = \fC1\fP)"
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Sets the most recent frame from the Forward Camera. \fBParameters:\fP
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\fIJaus\fP Image \fBFrame\fP. 
.RE
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.SS "void GlobalInfo::SetForwardFrame (const IplImage * frame, const int good = \fC1\fP)"
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Sets the most recent frame from the Forward Camera. \fBParameters:\fP
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\fIIPL\fP Image \fBFrame\fP. 
.RE
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.SS "void GlobalInfo::SetPingerPosition (double heading, double distance, int good = \fC1\fP)"
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Sets pinger heading and distance. \fBParameters:\fP
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\fIheading,distance,good\fP 
.RE
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.SS "void GlobalInfo::SetStartHeading (double heading, int good = \fC1\fP)"
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Sets initial heading. \fBParameters:\fP
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\fIheading\fP 
.RE
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.SH "Author"
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